AU2018264305B2 - Complete strong supporting single drive two-way crawling type pipeline cleaning robot - Google Patents
Complete strong supporting single drive two-way crawling type pipeline cleaning robot Download PDFInfo
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- AU2018264305B2 AU2018264305B2 AU2018264305A AU2018264305A AU2018264305B2 AU 2018264305 B2 AU2018264305 B2 AU 2018264305B2 AU 2018264305 A AU2018264305 A AU 2018264305A AU 2018264305 A AU2018264305 A AU 2018264305A AU 2018264305 B2 AU2018264305 B2 AU 2018264305B2
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- Prior art keywords
- telescopic
- frame
- machine body
- shaft
- disposed
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
Description
COMPLETE STRONG SUPPORTING SINGLE DRIVE TWO-WAY CRAWLING TYPE PIPELINE CLEANING ROBOT
FIELD OF THE INVENTION [0001] The present invention relates to the technical field of non-horizontal pipeline cleaning robots, and in particular, to a pipeline cleaning robot for realizing complete strong supporting single drive two-way crawling in a vertical pipeline having a constant diameter or a diameter that has a very small change based on a coordination function of a non-equal dwell cam group.
DESCRIPTION OF RELATED ART [0002] During a pipeline cleaning operation, a crawling type pipeline robot has a larger traction capability and terrain adaptability, and is more suitable for the pipe cleaning operation. However, most of conventional pipeline robots and pipeline cleaners have a one-way walking capability and cannot retreat to be retrieved when meeting a specific obstacle during a pipeline cleaning process, with a result that the robots are stuck in pipelines. For a conventional two-way crawling type pipeline cleaning robot, only one power cannot be used to realize three functions, that is, complete strong supporting for pipeline walls, two-way walking, and pipeline cleaning, and especially, a destabilized phenomenon will easily occur due to insufficient supporting at a time gap of alternate changes of supporting states of a front machine body and a rear machine body, and this is unfavorable to cleaning of a non-horizontal pipeline (typically, a vertical pipeline). Therefore, regarding a problem that the single drive two-way crawling type pipeline cleaning robot cannot realize complete strong supporting, in consideration of an actual situation, based on a coordination function of a non-equal dwell cam group, a complete strong supporting single drive two-way crawling type pipeline cleaning robot suitable for a pipeline having a constant diameter or a diameter that has a very small change is researched and developed, to provide a basis for implementation of non-horizontal pipeline cleaning.
SUMMARY OF THE INVENTION [0003] According to a first aspect, there is provided a complete strong supporting single drive two-way crawling type pipeline cleaning robot includes a front machine body assembly, 1
2018264305 08 Jan 2020 a transmission assembly, and a rear machine body assembly.
[0004] The transmission assembly is driven by one power; through a transmission function of a connecting rod mechanism, a gear mechanism and a non-equal dwell cam mechanism, the front machine body assembly and the rear machine body assembly realize a continuous strong supporting function during an overall radial alternate contracting and supporting process (that is, at any moment, at least one of the front machine body and the rear machine body is in a strong supporting state), and meanwhile, axial alternate extension and contraction between the front machine body assembly and the rear machine body assembly and the synchronous rotation of dredging cutters are also realized, to realize full-process strong supporting, two-way crawling, and a pipeline cleaning operation of a robot along a non-horizontal pipeline.
[0005] Preferably, the front machine body assembly includes a front casing, the dredging cutters, a front frame, front elastic telescopic arms at upper and lower sides, and front elastic supporting wheels at left and right sides.
[0006] The front casing is sleeved outside the front frame and is fixedly connected to the front frame; the dredging cutters are disposed at a front side of the front frame, and include a turntable, cutter bars uniformly distributed around the turntable in a circumferential direction, and dredging blades fixedly connected to the cutter bars.
[0007] Each of the front elastic telescopic arms (active) includes elastic rubber mats, a sliding rod, a first pressure spring, a spring limit piece, and rollers, and the elastic rubber mats are disposed at a top of the sliding rod; the first pressure spring is sleeved over the sliding rod, and realizes lower limit of the first pressure spring through the spring limit piece at a bottom of the sliding rod; a groove in communication with a bottom is disposed on an outer wall at one side of the sliding rod, the rollers are mounted at a bottom of the groove through a support rod (that is, the roller is mounted in an offset manner) and slide along the groove through the support rod to be fixed to realize adjustment of a spacing between the rollers and the sliding rod, to adapt to radial sizes of different pipelines; a bottom of the front elastic telescopic arm passes through the front casing and realizes upper limit of the first pressure spring on the sliding rod through the front casing.
[0008] Each of the front elastic supporting wheels (passive) includes a telescopic shaft, a telescopic sleeve sleeved outside the telescopic shaft, and a wheel disposed at a top of the telescopic shaft, a second pressure spring connected to a bottom of the telescopic shaft is
2018264305 08 Jan 2020 disposed in the telescopic sleeve, and telescopic motion of the telescopic shaft and the telescopic sleeve is realized through the second pressure spring to realize elastic adjustment of the length of the front elastic supporting wheel, to adapt to radial sizes of different pipelines; and the front elastic supporting wheels are disposed at left and right sides of the front casing through the telescopic sleeves.
[0009] Preferably, the rear machine body assembly includes a rear casing, a rear frame, rear elastic telescopic arms at upper and lower sides, and rear elastic support wheels at left and right sides; the rear casing is sleeved outside the rear frame, and is fixedly connected to the rear frame; structures of the rear elastic telescopic arms and the rear elastic support wheels (including an assembly structure and a connection relationship between the assembly structure and the rear casing) are respectively the same as the front elastic telescopic arms and the front elastic supporting wheels in the front machine body assembly.
[0010] Preferably, the transmission assembly includes a rotation motor, a cutter drive assembly, a front drive assembly, a rear drive assembly, and a medium drive assembly; the rotation motor is disposed at a front side of the rear frame, a first spur gear is sleeved over an output shaft of the rotation motor that passes through a front side plate of the rear frame, and the first spur gear is attached to a rear side of the front side plate of the rear frame.
[0011] The medium drive assembly includes several guide mechanisms, a transmission mechanism, and a crank connecting rod mechanism connecting the front frame and the rear frame; each of the guide mechanisms includes a guide rod disposed on a rear side plate of the front frame and a linear bearing disposed on the front side plate of the rear frame, and telescopic connection of the front frame and the rear frame is realized through sliding cooperation of the guide rod and the linear bearing.
[0012] The transmission mechanism includes a group of a sliding shaft and a bearing sleeve that are adaptive to each other, a strip groove is disposed on a side wall of the bearing sleeve, a cylindrical pin is disposed on a side wall of the sliding shaft, and synchronous rotation and telescopic sliding of the sliding shaft and the bearing sleeve are realized through sliding cooperation of the cylindrical pin and the groove; one side of the sliding shaft away from the bearing sleeve penetrates through the rear side plate of the front frame, and two first limit rings are disposed on the sliding shaft, the first limit rings are respectively attached to front and rear sides of the rear side plate of the front frame, and axial sliding of the sliding shaft relative to the rear side plate of the front frame is limited through the two first limit rings; one
2018264305 08 Jan 2020 side of the bearing sleeve away from the sliding shaft penetrates through the front side plate of the rear frame, a second limit ring and a second spur gear are disposed on the bearing sleeve, the second limit ring is attached to a front side of the front side plate of the rear frame, and the second spur gear is attached to a rear side of the front side plate of the rear frame; axial sliding of the bearing sleeve relative to the front side plate of the rear frame is limited through the second limit ring and the second spur gear, and the second spur gear and the first spur gear are engaged to transmit, to realize transmission of a rotation speed from the output shaft of the rotation motor to the bearing sleeve; and a first bevel gear is sleeved over one end of the sliding shaft away from the bearing sleeve, and a second bevel gear is sleeved over one end of the bearing sleeve away from the sliding shaft.
[0013] The front drive assembly includes a front rotation shaft disposed in the front frame, a front non-equal dwell cam group, and a third bevel gear, and the front non-equal dwell cam group and the third bevel gear are sleeved over the front rotation shaft; the third bevel gear and the first bevel gear are engaged for transmission, and drive the front rotation shaft and the front non-equal dwell cam group to rotate synchronously; the front non-equal dwell cam group includes two identical front non-equal dwell cams (that is, a farthest dwell angle and a nearest dwell angle of the cam are non-equal), and the two front non-equal dwell cams are stacked and dislocated by 180°; the rollers at bottoms (mounted in an offset manner) of the front elastic telescopic arms at upper and lower sides of the front machine body assembly are respectively mounted on the two front non-equal dwell cams abutting against each other, to realize synchronous radial telescopic adjustment of the two front elastic telescopic arms through the two front non-equal dwell cams.
[0014] The rear drive assembly includes a rear rotation shaft disposed in the rear frame, a rear non-equal dwell cam group, and a fourth bevel gear, and a connection structure of the rear drive assembly is the same as a connection structure of the front drive assembly; the fourth bevel gear and the second bevel gear are engaged for transmission, and drive the rear rotation shaft and the rear non-equal dwell cam group to rotate synchronously; the rear non-equal dwell cam group includes two identical rear non-equal dwell cam, and synchronous radial telescopic adjustment of two rear elastic telescopic arms is realized through the two rear non-equal dwell cams.
[0015] The cutter drive assembly includes a fifth bevel gear, a belt transmission mechanism, and a cutter rotation shaft, the fifth bevel gear and the third bevel gear are engaged for transmission, and drive the cutter rotation shaft to rotate through the belt transmission 4
2018264305 08 Jan 2020 mechanism, and the turntable of the dredging cutters is sleeved over one side of the cutter rotation shaft that passes through the front side plate of the front frame, to realize synchronous rotation of the dredging cutters.
[0016] The crank connecting rod mechanism includes connecting rods and cranks disposed on left and right sides of the front frame and the rear frame, and the cranks are sleeved over the rear rotation shaft that extends to the outside of the rear frame to synchronously rotate with the rear rotation shaft; one end of each of the connecting rods is hingedly connected to the left/right side plate of the front frame, the other end is hingedly connected to the crank at the same side, and axial telescopic adjustment between the front machine body assembly and the rear machine body assembly is realized through the crank connecting rod mechanism.
[0017] The operation principle of the present invention is described as follows. Firstly, a pipeline robot mounted with a sensor, a camera, and dredging cutters is placed in a non-horizontal pipeline manually, a motor is controlled to perform positive rotation, through a function transmission of a connecting rod mechanism, gears, and a non-equal dwell cam mechanism, a front body and a rear body realize continuous strong support during an overall radial alternate contracting and supporting process (that is, at any moment, at least one of the two machine bodies is in a strong supporting state), at the same time, the front and rear bodies can also be extended and contracted alternately along an axial direction, and the dredging cutters are rotated while being transmitted by a mechanism, and through coordination and cooperation of each moving part, a robot can implement a cleaning operation when crawling along a pipeline. When a pipeline robot meets a serious obstacle in the pipeline and cannot move forward, the motor is controlled to reverse to make the robot move backward to exit, to use another countermeasure.
[0018] Preferably, the cutter bars and the dredging blades of the dredging cutters are all detachable, to be maintained and replaced easily to save cost.
[0019] Preferably, a first long groove is formed in the support rod, a first threaded hole is formed in the same groove, and a fastening bolt passes through the first long groove to be fastened with the first threaded hole, so that the support rod is extended and contracted along the groove, and the connection is simple and convenient.
[0020] Preferably, a second long groove is formed in a side wall of the telescopic sleeve, a second cylindrical pin is disposed on the side wall of the telescopic shaft, and telescopic motion of the telescopic shaft along the telescopic sleeve is limited through cooperation of the
2018264305 08 Jan 2020 second cylindrical pin and the second long groove, to prevent the telescopic shaft from dropping off.
[0021] Preferably, a farthest dwell angle of the front non-equal dwell cams (identical with the rear non-equal dwell cams) is not less than 180°, to ensure full-process strong supporting. Since the cams rotate for one circle, that is, 360°, only when the farthest dwell angle of the non-equal dwell cam is not less than 180°, a sum of a nearest dwell angle, a lift angle, and a return angle is not less than 180°, and in this way, continuous strong supporting can be maintained in a full motion process. In other words, as shown in FIG. 14, at any moment, at least one curve of a front machine body supporting state curve SI and a rear machine body supporting state curve S2 is at a point Pl on a vertical coordinate, and the point Pl represents strong supporting.
Advantageous Effect [0022] Beneficial effects: compared with the prior art, the complete strong supporting single drive two-way crawling type pipeline cleaning robot provided by the present invention has the following advantages: 1. a power source and a set of mechanisms can realize complete strong supporting and two-way crawling in a vertical pipeline having a constant diameter or a diameter that has a very small change, and when the pipeline robot meets a specific obstacle and cannot walk forward, the robot can move backward to exit the pipeline, to enhance motor ability of the pipeline robot for dealing with a complicated pipeline environment; and 2. a robot body becomes more compact and portable, the cruising ability of the pipeline robot is greatly enhanced, and at the same time, full-process continuous traction can be maintained, and therefore, a vertical pipeline having a constant diameter or a diameter that has a very small change, that needs to maintain a continuous supporting force, can realize full-process strong supporting, and has actual engineering significance on comprehensive pipeline cleaning.
BRIEF DESCRIPTION OF THE DRAWINGS [0023] FIG. 1 is a schematic whole structural diagram of an embodiment of the present invention;
[0024] FIG. 2 is a front view of the embodiment of the present invention;
[0025] FIG. 3 is a schematic diagram of an internal structure of the embodiment of the present invention;
2018264305 08 Jan 2020 [0026] FIG. 4 is a schematic structural diagram of dredging cutters according to the embodiment of the present invention;
[0027] FIG. 5 is a schematic structural diagram of an elastic telescopic arm according to the embodiment of the present invention;
[0028] FIG. 6 is a schematic structural diagram of an elastic supporting wheel according to the embodiment of the present invention;
[0029] FIG. 7 is a schematic structural diagram of a transmission assembly according to the embodiment of the present invention;
[0030] FIG. 8 is a top view of the transmission assembly according to the embodiment of the present invention;
[0031] FIG. 9 and FIG. 10 are simple diagrams of transmission of a front non-equal dwell cam group and a rear non-equal dwell cam group according to the embodiment of the present invention;
[0032] FIG. 11 is a simple diagram of motion of a crank connecting rod mechanism according to the embodiment of the present invention;
[0033] FIG. 12 is a schematic structural diagram of the transmission mechanism according to the embodiment of the present invention;
[0034] FIG. 13 is a position diagram of a rotation angle of a rear non-equal dwell cam according to the embodiment of the present invention;
[0035] FIG. 14 is a change diagram of the supporting state of the front and rear machine bodies along a rotation angle of a cam according to the embodiment of the present invention; and [0036] FIG. 15a to FIG. 15e are flowcharts of motion of a robot along a pipeline according to the embodiment of the present invention.
List of reference numerals
Front machine body assembly
1-1 Front casing
1-2 Dredging cutters
1-3 Front frame
2018264305 08 Jan 2020
1-4 Front elastic telescopic arm
1-5 Front elastic supporting wheel
1-2-1 Dredging blade
1-2-2 Cutter bars
1-2-3 Turntable
1-4-1 Elastic rubber mat
1-4-2 Sliding rod
1-4-3 First pressure spring
1-4-4 Spring limit piece
1-4-5 Roller
1-4-6 Groove
1-4-7 Support rod
1-5-1 Wheel
1-5-2 Telescopic shaft
1- 5-3 Telescopic sleeve
Transmission assembly
2- 1 Cutter rotation shaft
2-2 Belt transmission mechanism
2-3 Front non-equal dwell cam group
2-4 Guide rod
2-5 Linear bearing
2-6 Rotation motor
2-7 First spur gear
2-8 Rear rotation shaft
2-9 Rear non-equal dwell cam group
2-10 Fourth bevel gear
2018264305 08 Jan 2020
2-11 Crank
2-12 Transmission mechanism
2-13 Connecting rod
2-14 Third bevel gear
2-15 Front rotation shaft
2-16 Fifth bevel gear
2-12-1 First bevel gear
2-12-2 First limit rings
2-12-3 Sliding shaft
2-12-4 Cylindrical pin
2-12-5 Bearing sleeve
2-12-6 Groove
2-12-7 Second limit ring
2-12-8 Second spur gear
2- 12-9 Second bevel gear
Rear machine body assembly
3- 1 Rear casing
3-2 Rear frame
3-3 Rear elastic telescopic arm
3-4 Rear elastic support wheel
DETAILED DESCRIPTION OF THE INVENTION [0037] The present invention will be described with reference to the accompanying drawings.
[0038] As shown in FIG. 1 and FIG. 2, a complete strong supporting single drive two-way crawling type pipeline cleaning robot includes a front machine body assembly 1, a transmission assembly 2, and a rear machine body assembly 3.
2018264305 08 Jan 2020 [0039] The transmission assembly 2 is driven by one power; through a transmission function of a connecting rod mechanism, a gear mechanism and a non-equal dwell cam mechanism, the front machine body assembly 1 and the rear machine body assembly 3 realize a continuous strong supporting function during an overall radial alternate contracting and supporting process (that is, at any moment, at least one of the front machine body and the rear machine body is in a strong supporting state), and meanwhile, axial alternate extension and contraction between the front machine body assembly 1 and the rear machine body assembly 3 and synchronous rotation of dredging cutters 1-2 are also realized, to realize full-process strong supporting, two-way crawling, and a pipeline cleaning operation of a robot along a non-horizontal pipeline.
[0040] As shown in FIG. 3, the front machine body assembly 1 includes a front casing 1-1, the dredging cutters 1-2, a front frame 1-3, front elastic telescopic arms 1-4 at upper and lower sides, and front elastic supporting wheel 1-5 at left and right sides.
[0041] The front casing 1-1 is sleeved outside the front frame 1-3 and is fixedly connected to the front frame 1-3; as shown in FIG. 4, the dredging cutters 1-2 are disposed at a front side of the front frame 1-3, and include a turntable 1-2-3, cutter bars 1-2-2 uniformly distributed around the turntable 1-2-3 in a circumferential direction, and dredging blades 1-2-1 fixedly connected to the cutter bars 1-2-2.
[0042] As shown in FIG. 5, each of the front elastic telescopic arms 1-4 includes elastic rubber mats 1-4-1, a sliding rod 1-4-2, a first pressure spring 1-4-3, a spring limit piece 1-4-4, and rollers 1-4-5, and the elastic rubber mats 1-4-1 are disposed at a top of the sliding rod 1-4-2; the first pressure spring 1-4-3 is sleeved over the sliding rod 1-4-2, and realizes lower limit of the first pressure spring 1-4-3 through the spring limit piece 1-4-4 at a bottom of the sliding rod 1-4-2; a groove 1-4-6 in communication with a bottom is disposed on an outer wall at one side of the sliding rod 1-4-2, the rollers 1-4-5 are mounted at a bottom of the groove 1-4-6 through a support rod 1-4-7, and slide along the groove 1-4-6 through the support rod 1-4-7 to be fixed to realize adjustment of a spacing between the rollers 1-4-5 and the sliding rod 1-4-2, to adapt to radial sizes of different pipelines; a bottom of the front elastic telescopic arm 1-4 passes through the front casing 1-1 and realizes upper limit of the first pressure spring 1-4-3 on the sliding rod 1-4-2 through the front casing 1-1.
[0043] As shown in FIG. 6, each of the front elastic supporting wheels 1-5 includes a telescopic shaft 1-5-2, a telescopic sleeve 1-5-3 sleeved outside the telescopic shaft 1-5-2, and
2018264305 08 Jan 2020 a wheel 1-5-1 disposed at a top of the telescopic shaft 1-5-2, a second pressure spring connected to a bottom of the telescopic shaft 1-5-2 is disposed in the telescopic sleeve 1-5-3, telescopic motion of the telescopic shaft 1-5-2 and the telescopic sleeve 1-5-3 is realized through the second pressure spring to adapt to radial sizes of different pipelines; and the front elastic supporting wheels 1-5 are disposed at left and right sides of the front casing 1-1 through the telescopic sleeves 1-5-3.
[0044] In this embodiment, the rear machine body assembly 3 includes a rear casing 3-1, a rear frame 3-2, rear elastic telescopic arms 3-3 at upper and lower sides, and rear elastic support wheels 3-4 at left and right sides; the rear casing 3-1 is sleeved outside the rear frame
3-2, and is fixedly connected to the rear frame 3-2; the structures of the rear elastic telescopic arms 3-3 and the rear elastic support wheels 3-4 (including an assembly structure and a connection relationship between the assembly structure and the rear casing 3-1) are respectively the same as the front elastic telescopic arms 1-4 and the front elastic supporting wheels 1-5 in the front machine body assembly 1 (the front machine body assembly and the rear machine body assembly are identical general assemblies).
[0045] As shown in FIG. 7 and FIG. 8, the transmission assembly 2 includes a rotation motor 2-6, a cutter drive assembly, a front drive assembly, a rear drive assembly, and a medium drive assembly.
[0046] The rotation motor 2-6 is disposed at a front side of the rear frame 3-2, a first spur gear 2-7 is sleeved over an output shaft of the rotation motor that passes through a front side plate of the rear frame 3-2, and the first spur gear 2-7 is attached to a rear side of the front side plate of the rear frame 3-2.
[0047] The medium drive assembly includes several guide mechanisms, a transmission mechanism 2-12, and a crank connecting rod mechanism connecting the front frame 1-3 and the rear frame 3-2; each of the guide mechanisms includes a guide rod 2-4 disposed on a rear side plate of the front frame 1-3 and a linear bearing 2-5 disposed on the front side plate of the rear frame 3-2, and telescopic connection of the front frame 1-3 and the rear frame 3-2 is realized through sliding cooperation of the guide rod 2-4 and the linear bearing 2-5.
[0048] As shown in FIG. 12, the transmission mechanisms 2-12 includes a group consisting of a sliding shaft 2-12-3 and a bearing sleeve 2-12-5 that are adaptive to each other, a strip groove 2-12-6 is disposed on a side wall of the bearing sleeve 2-12-5, a cylindrical pin 2-12-4 is disposed on a side wall of the sliding shaft 2-12-3, and synchronous rotation and telescopic
2018264305 08 Jan 2020 sliding of the sliding shaft 2-12-3 and the bearing sleeve 2-12-5 are realized through sliding cooperation of the cylindrical pin 2-12-4 and the groove 2-12-6; one side of the sliding shaft 2-12-3 away from the bearing sleeve 2-12-5 penetrates through the rear side plate of the front frame 1-3, and two first limit rings 2-12-2 are disposed on the sliding shaft 2-12-3, the first limit rings 2-12-2 are respectively attached to front and rear sides of the rear side plate of the front frame 1-3, and axial sliding of the sliding shaft 2-12-3 relative to the rear side plate of the front frame 1-3 is limited through the two first limit rings 2-12-2; one side of the bearing sleeve 2-12-5 away from the sliding shaft 2-12-3 penetrates through the front side plate of the rear frame 3-2, a second limit ring 2-12-7 and a second spur gear 2-12-8 are disposed on the bearing sleeve 2-12-5, the second limit ring 2-12-7 is attached to a front side of the front side plate of the rear frame 3-2, and the second spur gear 2-12-8 is attached to a rear side of the front side plate of the rear frame 3-2; axial sliding of the bearing sleeve 2-12-5 relative to the front side plate of the rear frame 3-2 is limited through the second limit ring 2-12-7 and the second spur gear 2-12-8, and the second spur gear 2-12-8 and the first spur gear 2-7 are engaged for transmission, to realize transmission of a rotation speed from the output shaft of the rotation motor 2-6 to the bearing sleeve 2-12-5; and a first bevel gear 2-12-1 is sleeved over one end of the sliding shaft 2-12-3 away from the bearing sleeve 2-12-5, and a second bevel gear 2-12-9 is sleeved over one end of the bearing sleeve 2-12-5 away from the sliding shaft 2-12-3.
[0049] The front drive assembly includes a front rotation shaft 2-15 disposed in the front frame 1-3, a front non-equal dwell cam group 2-3, and a third bevel gear 2-14, and the front non-equal dwell cam group 2-3 and the third bevel gear 2-14 are sleeved over the front rotation shaft 2-15; the third bevel gear 2-14 and the first bevel gear 2-12-1 are engaged for transmission, and drive the front rotation shaft 2-15 and the front non-equal dwell cam group
2- 3 to rotate synchronously; as shown in FIG. 9, the front non-equal dwell cam group 2-3 includes two identical front non-equal dwell cams 2-3a and 2-3b, and the two front non-equal dwell cams are stacked and dislocated by 180°; the rollers 1-4-5 at bottoms of the front elastic telescopic arms l-4a and l-4b at upper and lower sides of the front machine body assembly 1 are respectively mounted on the two front non-equal dwell cams 2-3a and 203b abutting against each other, to realize synchronous radial telescopic adjustment of the two front elastic telescopic arms 1-4 through the two front non-equal dwell cams.
[0050] The rear drive assembly includes a rear rotation shaft 2-8 disposed in the rear frame
3- 2, a rear non-equal dwell cam group 2-9, and a fourth bevel gear 2-10, and a connection
2018264305 08 Jan 2020 structure of the rear drive assembly is the same as a connection structure of the front drive assembly (the front drive assembly and the rear drive assembly are identical general assemblies); the fourth bevel gear 2-10 and the second bevel gear 2-12-9 are engaged for transmission, and drive the rear rotation shaft 2-8 and the rear non-equal dwell cam group 2-9 to rotate synchronously; as shown in FIG. 10, the rear non-equal dwell cam group 2-9 includes two identical rear non-equal dwell cams 2-9a and 2-9b, and synchronous radial telescopic adjustment of two rear elastic telescopic arms 3-3a and 3-3b is realized through the two rear non-equal dwell cams; and when the transmission mechanism 2-12 is rotating, the bevel gear set is engaged for transmission, to drive the front drive assembly and the rear drive assembly to rotate at a constant speed in opposite directions, so that the front non-equal dwell cam group 2-3 and the rear non-equal dwell cam group 2-9 are also rotating at a constant speed in opposite directions.
[0051] The cutter drive assembly includes a fifth bevel gear 2-16, a belt transmission mechanism 2-2, and a cutter rotation shaft 2-1, the fifth bevel gear 2-16 and the third bevel gear 2-14 are engaged for transmission, and drive the cutter rotation shaft 2-1 to rotate through the belt transmission mechanism 2-2, and the turntable 1-2-3 of the dredging cutters
1- 2 is sleeved over one side of the cutter rotation shaft 2-1 that passes through the front side plate of the front frame 1-3, to realize synchronous rotation of the dredging cutters 1-2.
[0052] As shown in FIG. 11, the crank connecting rod mechanism includes connecting rods
2- 13 and cranks 2-11 disposed on left and right sides of the front frame 1-3 and the rear frame
3- 2, and the cranks 2-11 are sleeved over the rear rotation shaft 2-8 that extends to the outside of the rear frame 3-2 to synchronously rotate with the rear rotation shaft 2-8; one end of each of the connecting rods 2-13 is hingedly connected to a left/right side plate of the front frame 1-3, the other end is hingedly connected to the crank 2-11 at the same side, and axial telescopic adjustment between the front machine body assembly 1 and the rear machine body assembly 3 is realized through the crank connecting rod mechanism.
[0053] In this embodiment, the cutter bars 1-2-2 and the dredging blades 1-2-1 of the dredging cutters 1-2 are all detachable; a first long groove is formed in the support rod 1-4-7, a first threaded hole is formed in the groove 1-4-6, and a fastening bolt passes through the first long groove to be fastened with the first threaded hole, so that the support rod 1-4-7 is extended and contracted along the groove 1-4-6.
[0054] In this embodiment, a second long groove is formed in a side wall of the telescopic
2018264305 08 Jan 2020 sleeve 1-5-3, a second cylindrical pin is disposed on the side wall of the telescopic shaft 1-5-2, and telescopic motion of the telescopic shaft 1-5-2 along the telescopic sleeve 1-5-3 is limited through cooperation of the second cylindrical pin and the second long groove.
[0055] In this embodiment, farthest dwell angles of the non-equal dwell cams 2-3a, 2-3b, 2-9a, and 2-9b are 180° and nearest dwell angles are 144°, and a push angle and a return angle are both 18°. Since the farthest dwell angle of the non-equal dwell cam is 180°, during a full motion process, at least one of a front machine body and a rear machine body is in a strong supporting state. Therefore, when moving in a vertical pipeline, the front machine body and the rear machine body may not be destabilized due to insufficient support in a process of supporting a pipeline wall alternately. Furthermore, under a precondition that a size of a basic circle is constant and an allowed narrow force angle is not exceeded, since the farthest dwell angle of a non-equal dwell cam is required to be not less than 180° in the present invention, when the nearest dwell angle is constant, a radial variation range of the non-equal dwell cam relative to an equal dwell cam becomes small, and therefore, the present invention is only suitable to move in a pipeline having a diameter that has a small change or a constant diameter. Specifically, the present invention only requires that a value of a farthest dwell angle of a non-equal dwell cam is not less than 180°, and implementation of the present invention is not limited to the specific angle.
[0056] A specific implementation of the present invention is specifically described as follows.
[0057] A crawling process of a pipeline robot is shown in FIG. 13 and FIG. 14, and 15a-15e. According to a change of a position of a rotation angle of a rear non-equal dwell cam in FIG. 13, SI and S2 in FIG. 14 respectively represent radial supporting states of the front machine body and the rear machine body. To describe conveniently, a robot is divided into three parts, that is, a front machine body Bl (radial extension and contraction), a medium machine body B2 (axial extension and contraction), and a rear machine body B3 (radial extension and contraction). Meanwhile, extension and contraction states of each part are classified as three types according to an extension degree, that is, a full extension state, a medium state, and a full contraction state. A pipeline wall is not supported in a full radial extension state, is supported weakly in a medium radial state, and is supported strongly in a full radial extension state. A walking process of a pipeline robot is specifically described as follows.
[0058] Step 1: A crank 2-11 rotates by 0° in a clockwise direction. As shown in FIG. 15a, at
2018264305 08 Jan 2020 this time, a hinged hole on the crank 2-11 is at position 1. It can be known from FIG. 14 that, the front machine body Bl is in the full radial extension state, the medium machine body B2 is in a full axial contraction state, and the rear machine body B3 is a full radial extension state. [0059] Step 2: the crank 2-11 rotates by 90° in a clockwise direction. As shown in FIG. 15b, at this time, the hinged hole on the crank 2-11 is at position 2. It can be known from FIG. 14 that, the front machine body Bl is in the full radial contraction state, the medium machine body B2 is in a medium axial state, and the rear machine body B3 is in the full radial extension state.
[0060] Step 3: the crank 2-11 rotates by 180° in a clockwise direction. As shown in FIG. 15c, at this time, the hinged hole on the crank 2-11 is at position 3. It can be known from FIG. 14 that, the front machine body Bl is in the full radial extension state, the medium machine body B2 is in a full axial extension state, and the rear machine body B3 is a full radial extension state.
[0061] Step 4: the crank 2-11 rotates by 270° in a clockwise direction. As shown in FIG. 15d, at this time, the hinged hole on the crank 2-11 is at position 4. It can be known from FIG. 14 that, the front machine body Bl is in the full radial extension state, the medium machine body B2 is in the medium axial state, and the rear machine body B3 is a full radial contraction state.
[0062] Step 5: the crank 2-11 rotates by 360° in a clockwise direction. As shown in FIG. 15e, at this time, the hinged hole on the crank 2-11 returns to position 1. It can be known from FIG. 14 that, the front machine body Bl is in the full radial extension state, the medium machine body B2 is in a full axial contraction state, and the rear machine body B3 is a full radial extension state.
[0063] Through markings (A-F) in FIG. 15a to FIG. 15e, it can be clearly seen that, the pipeline robot crawls to the left along the pipeline and realizes continuous strong supporting crawling in a full process.
[0064] The present invention, through a combination of a connecting rod mechanism, gear transmission, and a non-equal dwell cam mechanism, that is, a power source and a set of mechanisms, realizes radial contraction and extension of a front machine body and a rear machine body of a robot, and extension and shortening of a spacing between the front machine body and the rear machine body, to realize full process strong supporting and two-way crawling in a vertical pipeline, and at the same time, realize pipeline cleaning during a walking process, and enhance stability and reliability of a pipeline cleaning operation.
2018264305 08 Jan 2020 [0065] Based on coordination of the non-equal dwell cam group, the present invention realizes continuous traction and full-process strong supporting in a process of alternate changes of supporting states of the front machine body and the rear machine body. Therefore, the present invention is not only suitable to cleaning of a non-horizontal pipeline (for example, a vertical pipe) having a diameter that has a very small change, but also suitable to a horizontal pipeline having a diameter that has a very small change, and has actual engineering significance on comprehensive pipeline cleaning.
[0066] Only preferred embodiments of the present invention are described as above. It should be indicated that, a person of ordinary skill in the art can make several improvements and modifications without departing from the principle of the present application, and the improvements and modifications fall in the protection scope of the present invention.
[0067] Throughout the specification and the claims that follow, unless the context requires otherwise, the words “comprise” and “include” and variations such as “comprising” and “including” will be understood to imply the inclusion of a stated integer or group of integers, but not the exclusion of any other integer or group of integers.
[0068] The reference to any prior art in this specification is not, and should not be taken as, an acknowledgement of any form of suggestion that such prior art forms part of the common general knowledge.
Claims (7)
1. A complete strong supporting single drive two-way crawling type pipeline cleaning robot, comprising a front machine body assembly, a transmission assembly, and a rear machine body assembly;
wherein the transmission assembly is driven by one power; through a transmission function of a connecting rod mechanism, a gear mechanism and a non-equal dwell cam mechanism, the front machine body assembly and the rear machine body assembly realize a continuous strong supporting function during an overall radial alternate contracting and supporting process, and meanwhile, axial extension and contraction between the front machine body assembly and the rear machine body assembly and synchronous rotation of dredging cutters are also realized, to realize full-process strong supporting, two-way crawling, and a pipeline cleaning operation of a robot along a non-horizontal pipeline;
wherein the front machine body assembly comprises a front casing, the dredging cutters, a front frame, front elastic telescopic arms at upper and lower sides, and front elastic supporting wheel at left and right sides;
the front casing is sleeved outside the front frame and is fixedly connected to the front frame; the dredging cutters are disposed at a front side of the front frame, and comprise a turntable, cutter bars uniformly distributed around the turntable in a circumferential direction, and dredging blades fixedly connected to the cutter bars;
each of the front elastic telescopic arms comprises elastic rubber mats, a sliding rod, a first pressure spring, a spring limit piece, and rollers, and the elastic rubber mats are disposed at a top of the sliding rod; the first pressure spring is sleeved over the sliding rod, and realizes lower limit of the first pressure spring through the spring limit piece at a bottom of the sliding rod; a groove in communication with a bottom is disposed on an outer wall at one side of the sliding rod, the rollers are mounted at a bottom of the groove through a support rod, and slide along the groove through the support rod to be fixed to realize adjustment of a spacing between the rollers and the sliding rod; a bottom of the front elastic telescopic arm passes through the front casing and realizes upper limit of the first pressure spring on the sliding rod through the front casing; and each of the front elastic supporting wheels comprises a telescopic shaft, a telescopic sleeve
2018264305 08 Jan 2020 sleeved outside the telescopic shaft, and a wheel disposed at a top of the telescopic shaft, a second pressure spring connected to a bottom of the telescopic shaft is disposed in the telescopic sleeve, and telescopic motion of the telescopic shaft and the telescopic sleeve is realized through the second pressure spring; and the front elastic supporting wheels are disposed at left and right sides of the front casing through the telescopic sleeves.
2. The complete strong supporting single drive two-way crawling type pipeline cleaning robot according to claim 1, wherein the rear machine body assembly comprises a rear casing, a rear frame, rear elastic telescopic arms at upper and lower sides, and rear elastic support wheels at left and right sides; the rear casing is sleeved outside the rear frame, and is fixedly connected to the rear frame; structures of the rear elastic telescopic arms and the rear elastic support wheels are respectively the same as the front elastic telescopic arms and the front elastic supporting wheels in the front machine body assembly.
3. The complete strong supporting single drive two-way crawling type pipeline cleaning robot according to claim 2, wherein the transmission assembly comprises a rotation motor, a cutter drive assembly, a front drive assembly, a rear drive assembly, and a medium drive assembly; the rotation motor is disposed at a front side of the rear frame, a first spur gear is sleeved over an output shaft of the rotation motor that passes through a front side plate of the rear frame, and the first spur gear is attached to a rear side of the front side plate of the rear frame;
the medium drive assembly comprises several guide mechanisms, a transmission mechanism, and a crank connecting rod mechanism connecting the front frame and the rear frame; each of the guide mechanisms comprises a guide rod disposed on a rear side plate of the front frame and a linear bearing disposed on the front side plate of the rear frame, and telescopic connection of the front frame and the rear frame is realized through sliding cooperation of the guide rod and the linear bearing;
the transmission mechanism comprises a group consisting of a sliding shaft and a bearing sleeve that are adaptive to each other, a strip groove is disposed on a side wall of the bearing sleeve, a cylindrical pin is disposed on a side wall of the sliding shaft, and synchronous rotation and telescopic sliding of the sliding shaft and the bearing sleeve are realized through sliding cooperation of the cylindrical pin and the groove; one side of the sliding shaft away from the bearing sleeve penetrates through the rear side plate of the front frame, and two first limit rings are disposed on the sliding shaft, the first limit rings are respectively attached to front and rear sides of the rear side plate of the front frame, and axial sliding of the sliding
2018264305 08 Jan 2020 shaft relative to the rear side plate of the front frame is limited through the two first limit rings; one side of the bearing sleeve away from the sliding shaft penetrates through the front side plate of the rear frame, a second limit ring and a second spur gear are disposed on the bearing sleeve, the second limit ring is attached to a front side of the front side plate of the rear frame, and the second spur gear is attached to a rear side of the front side plate of the rear frame; axial sliding of the bearing sleeve relative to the front side plate of the rear frame is limited through the second limit ring and the second spur gear, and the second spur gear and the first spur gear are engaged for transmission; and a first bevel gear is sleeved over one end of the sliding shaftaway from the bearing sleeve, and a second bevel gear is sleeved over one end of the bearing sleeve away from the sliding shaft;
the front drive assembly comprises a front rotation shaft disposed in the front frame, a front non-equal dwell cam group, and a third bevel gear, and the front non-equal dwell cam group and the third bevel gear are sleeved over the front rotation shaft; the third bevel gear and the first bevel gear are engaged for transmission, and drive the front rotation shaft and the front non-equal dwell cam group to rotate synchronously; the front non-equal dwell cam group comprises two identical front non-equal dwell cams, and the two front non-equal dwell cams are stacked and dislocated by 180°; the rollers at bottoms of the front elastic telescopic arms 1-4 at upper and lower sides of the front machine body assembly are respectively mounted on the two front non-equal dwell cams abutting against each other, to realize synchronous radial telescopic adjustment of the two front elastic telescopic arms through the two front non-equal dwell cams;
the rear drive assembly comprises a rear rotation shaft disposed in the rear frame, a rear non-equal dwell cam group, and a fourth bevel gear , and a connection structure of the rear drive assembly is the same as a connection structure of the front drive assembly; the fourth bevel gear and the second bevel gear are engaged for transmission, and drive the rear rotation shaft and the rear non-equal dwell cam group to rotate synchronously; the rear non-equal dwell cam group comprises two identical rear non-equal dwell cams, and synchronous radial telescopic adjustment of two rear elastic telescopic arms 3-3 is realized through the two rear non-equal dwell cams;
the cutter drive assembly comprises a fifth bevel gear, a belt transmission mechanism, and a cutter rotation shaft, the fifth bevel gear and the third bevel gear are engaged for transmission, and drive the cutter rotation shaft to rotate through the belt transmission mechanism, and the turntable of the dredging cutters is sleeved over one side of the cutter rotation shaft that passes 19
2018264305 08 Jan 2020 through the front side plate of the front frame;
the crank connecting rod mechanism comprises connecting rods and cranks disposed on left and right sides of the front frame and the rear frame, and the cranks are sleeved over the rear rotation shaft that extends to the outside of the rear frame to synchronously rotate with the rear rotation shaft; one end of each of the connecting rods is hingedly connected to a left/right side plate of the front frame, the other end is hingedly connected to the crank at the same side, and axial telescopic adjustment between the front machine body assembly and the rear machine body assembly is realized through the crank connecting rod mechanism.
4. The complete strong supporting single drive two-way crawling type pipeline cleaning robot according to claim 3, wherein the cutter bars and the dredging blades of the dredging cutters are all detachable.
5. The complete strong supporting single drive two-way crawling type pipeline cleaning robot according to claim 3, wherein a first long groove is formed in the support rod, a first threaded hole is formed in the groove, and a fastening bolt passes through the first long groove to be fastened with the first threaded hole, so that the support rod is extended and contracted along the groove.
6. The complete strong supporting single drive two-way crawling type pipeline cleaning robot according to claim 3, wherein a second long groove is formed in a side wall of the telescopic sleeve, a second cylindrical pin is disposed on the side wall of the telescopic shaft, and telescopic motion of the telescopic shaft along the telescopic sleeve is limited through cooperation of the second cylindrical pin and the second long groove.
7. The complete strong supporting single drive two-way crawling type pipeline cleaning robot according to claim 3, wherein a farthest dwell angle of the front non-equal dwell cams is not less than 180°.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710328193.7 | 2017-05-11 | ||
| CN201710328193.7A CN106925575B (en) | 2017-05-11 | 2017-05-11 | Complete strong support type list drives two-way crawling formula pipeline cleaning machine people |
| PCT/CN2018/085976 WO2018205920A1 (en) | 2017-05-11 | 2018-05-08 | Complete strong supporting single drive two-way crawling type pipeline cleaning robot |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| AU2018264305A1 AU2018264305A1 (en) | 2019-05-23 |
| AU2018264305A8 AU2018264305A8 (en) | 2019-06-06 |
| AU2018264305B2 true AU2018264305B2 (en) | 2020-01-30 |
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|---|---|---|---|
| AU2018264305A Ceased AU2018264305B2 (en) | 2017-05-11 | 2018-05-08 | Complete strong supporting single drive two-way crawling type pipeline cleaning robot |
Country Status (5)
| Country | Link |
|---|---|
| CN (1) | CN106925575B (en) |
| AU (1) | AU2018264305B2 (en) |
| CA (1) | CA3045865C (en) |
| GB (1) | GB2569931B (en) |
| WO (1) | WO2018205920A1 (en) |
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| CN106925575B (en) * | 2017-05-11 | 2019-02-19 | 中国矿业大学 | Complete strong support type list drives two-way crawling formula pipeline cleaning machine people |
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2018
- 2018-05-08 AU AU2018264305A patent/AU2018264305B2/en not_active Ceased
- 2018-05-08 WO PCT/CN2018/085976 patent/WO2018205920A1/en active Application Filing
- 2018-05-08 CA CA3045865A patent/CA3045865C/en active Active
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106364588A (en) * | 2016-10-26 | 2017-02-01 | 哈尔滨工程大学 | Peristaltic pipeline walking robot |
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| CN106925575B (en) | 2019-02-19 |
| CA3045865A1 (en) | 2018-11-15 |
| AU2018264305A8 (en) | 2019-06-06 |
| GB2569931B (en) | 2020-04-15 |
| WO2018205920A1 (en) | 2018-11-15 |
| AU2018264305A1 (en) | 2019-05-23 |
| CN106925575A (en) | 2017-07-07 |
| GB2569931A (en) | 2019-07-03 |
| CA3045865C (en) | 2021-08-24 |
| GB201906128D0 (en) | 2019-06-12 |
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